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    <h1><a href="index.html" style="text-decoration:none;">Robotic Manipulation</a></h1>
    <p data-type="subtitle">Perception, Planning, and Control</p> 
    <p style="font-size: 18px;"><a href="http://people.csail.mit.edu/russt/">Russ Tedrake</a></p>
    <p style="font-size: 14px; text-align: right;"> 
      &copy; Russ Tedrake, 2020-2023<br/>
      Last modified <span id="last_modified"></span>.</br>
      <script>
      var d = new Date(document.lastModified);
      document.getElementById("last_modified").innerHTML = d.getFullYear() + "-" + (d.getMonth()+1) + "-" + d.getDate();</script>
      <a href="misc.html">How to cite these notes, use annotations, and give feedback.</a><br/>
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<p pdf="no"><b>Note:</b> These are working notes used for <a
href="http://manipulation.csail.mit.edu/Fall2023/">a course being taught
at MIT</a>. They will be updated throughout the Fall 2023 semester.  <!-- <a 
href="https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg">Lecture  videos are available on YouTube</a>.--></p> 

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<chapter class="appendix" style="counter-reset: chapter 3"><h1>Miscellaneous</h1>

<section id="cite"><h1>How to cite these notes</h1>

  <p>Thank you for citing these notes in your work.  Please use the following
    citation:</p>
  
  <pre><code class="language-bibtex">@book{manipulation,
  title        = "Robotic Manipulation",
  subtitle     = "Perception, Planning, and Control",
  howpublished = "Course Notes for MIT 6.421",
  author       = "Tedrake, Russ",
  year         = 2023,
  url          = "http://manipulation.mit.edu",
}</code></pre>

</section>

<section id="annotation"><h1>Annotation tool etiquette</h1>

  <p>My primary goal for the annotation tool is to host a completely open
  dialogue on the intellectual content of the text.  However, it has turned out
  to serve an additional purpose: it's a convenient way to point out my
  miscellaneous typos and grammatical blips.  The only problem is that if you
  highlight a typo, and I fix it 10 minutes later, your highlight will persist
  forevermore.  Ultimately this pollutes the annotation content.</p>

  <div>There are two possible solutions: <ul><li>you can make a public editorial comment, but must promise to delete that comment once it has been addressed.</li><li>You can <a href="https://hypothes.is/groups/Gn2rm56b/editorial">join my "editorial" group</a> and post your editorial comments <a href="https://web.hypothes.is/help/annotating-with-groups/#how-to-add-annotations-to-a-group">using this group "scope"</a>.</li></ul>
  Ideally, once I mark a comment as "done", I would appreciate it if you can delete that comment.
  </div>

  <p>
  I highly value both the discussions and the corrections.  Please keep them coming, and thank you!
  </p>

</section>

<section id="projects"><h1>Some great final projects</h1>

  <p>Each semester students put together a final project using the tools from this class.  So many of them are fantastic!  Here is a small sample that captures some of the diversity.</p>

  <p><b>Fall 2022 Outstanding Project Awards (<a href=="https://www.youtube.com/playlist?list=PLkx8KyIQkMfU1ZRdF2RF2VlTQ5ocwPQuY">playlist</a>):</b>
    <ul>
      <li><a href="https://www.youtube.com/watch?v=B49J5w8MMrM">ChessBot</a> by
      Ethan Chung</li>
      <li><a href="https://www.youtube.com/watch?v=6xeFivpRMuo">Rock Skipping
      Robot</a> by Michael Burgess and Nicholas Ramirez</li>
      <li><a href="https://youtu.be/VEE3T6BI1dU">How we made a robot arm
      juggle!</a> by Richard Li, David Jin, and Shao Yuan Chew Chia</li>
      <li><a href="https://youtu.be/kvByN0x829w">SpeedCuber Bot</a> by Bin
      Pham</li>
      <li><a href="https://www.youtube.com/watch?v=4hNhFwbYepg">Michaelangelo -
      Robot Painter 2.0</a> by Vainavi Mukkamala and Akila Saravanan</li>
      <li><a href="https://www.youtube.com/watch?v=avz7G3sfkcM">Ping Pong Bot
      2023</a> by Jenny Zhang and Daniel Klahn</li>
      <li><a href="https://www.youtube.com/watch?v=ut7HZ8bLqtA">TetrisBot</a>
      by Pranav Arunandhi, Ashley Ke, and Sadhana Lolla</li>
      <li><a href="https://youtu.be/KFZX8lZq7fk">Multiple-finger Grasping:
      Generating Antipodal Grasping with Allegro Hand</a> by Yuxiang Ma</li>
      <li><a href="https://youtu.be/cZFVb2pBIgU">Exploring 6DOF Pose Estimation
      Approaches Using RGB(D)</a> by Amin
      Heyrani Nobari</li>
    </ul>
  </p>

  <p><b>Fall 2021:</b>
    <ul>
      <li><a href="https://www.youtube.com/playlist?list=PLkx8KyIQkMfUbHMSbSVTmCM63rICMdFNI">YouTube playlist</a> containing all projects that opted in.</li>
      <li><a href="https://youtu.be/WzJJ4c6AqnE">Playing Piano with a Robotic Hand</a> by Seong Ho Yeon</li>
      <li><a href="https://youtu.be/j5t2DlDHMoU">Table Cleaning through Task and Motion Planning with Force Control</a> by William Shen</li>
      <li><a href="https://youtu.be/gNNZMLM_BrQ">RallyBot: Exploring Physics-Based Approaches to Robotic Table Tennis</a> by Dylan Zhou and Chaitanya Ravuri</li>
      <li><a href="https://youtu.be/K5AZ-FLBamA">Robust Stacking of Convex Polytopes</a> by Richard Li and Gabriel Margolis</li>
      <li><a href="https://youtu.be/dBZ0Sjx_Seo">Simulation of Discrete Lattice Robot Assemblies</a> by Miani Smith</li>
      <li><a href="https://www.youtube.com/watch?v=szI8pAFz2Fo">Da Vinci Robot</a> by Maisy Lam and Jose A. Muguira</li>
      <li><a href="https://youtu.be/P44_Z4UrmGA">Certifying Convex Decompositions of Free Configuration Space</a> by Alexandre Amice, Peter Werner, Annan Zhang</li>
      <li><a href="https://youtu.be/SUmahiaY_b8">Robotic Arm Weightlifting via Trajectory Optimization</a> by Timur Garipov</li>
      <li><a href="https://youtu.be/ttI-ixsw-D8">An Efficient Implementation of Pressure Field Models</a> by Vincent Huang, Franklyn Wang, Eric Zhang</li>
      <li><a href="https://www.youtube.com/watch?v=BYsOT4MYqt0">Joint Perception and Manipulation System for Multi-Shape Peg-in-Hole Tasks</a> by Portia Gaitskell and Julia Wyatt</li>
    </ul>
  </p>

  <p><b>Fall 2020:</b>
    <ul>
      <li><a href="https://www.youtube.com/watch?v=J-Jzbjs54eg">Solving Simple
      Tiling Puzzles with an End-to-End Robotic System</a> by Anubhav Guha</li>
      <li><a href="https://www.youtube.com/watch?v=J_EAgIfc4fk">Throwing in
      Drake</a> by Daniel Yang and Tony Wang</li>
      <li><a href="https://www.youtube.com/watch?v=m5UnMWihWC4">Robot
      Juggler</a> by Ryan Shubert and Matt Beveridge</li>
      <li><a href="https://www.youtube.com/watch?v=hKZeZbBZNOk">A Geometric
      Approach to Recycling Cans via Vision-Based Manipulation</a> by Susan Ni
      and George Chen</li>
      <li><a href="https://www.youtube.com/watch?v=oBXmbfLuNVU">Interactive
      Perception: Scene Segmentation Through Physical Perturbation</a> by Lukas
      Lao Beyer and John Keszler</li>
      <li><a href="https://www.youtube.com/watch?v=zVGuJjeQrdI&t=373s">William
      Shakebot</a> by Carson Smithbot and Clemente Ocejo</li>
    </ul>
  
  </p>

</section>

<section id="feedback"><h1>Please give me feedback!</h1>

  <p>I'm very interested in your feedback.  The annotation tool is one
  mechanism, but you can also comment directly on the YouTube lectures, or even
  add issues to the <a href="https://github.com/RussTedrake/manipulation">github
  repo</a> that hosts these course notes.</p>

  <p>I will also post a proper survey questionnaire here once the notes/course
  has existed long enough for that to make sense.</p>

</section>

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